Created SlowMotionDrive #2
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I created a new autonomous routine in PathPlanner. It is on the bottom side of the field, and it's a four-piece auto. It starts by out taking a preplaced game piece into the speaker. It then goes to the middle of the field and takes three game pieces and shoots them into the speaker. |
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I created another bottom auto routine where instead of four pieces, it will be three pieces. |
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/format |
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So Syon asked me to make a command such that it could make the robot drive at a slower speed. So I made it in Robot Container. What I did was just take the normal swerve drive command and create a new max translational acceleration constant that is smaller than the normal translational acceleration constant. I then used that constant as my new max translational acceleration in my command. The way to initiate SlowMotionDrive is by holding the left trigger ONLY while driving the robot.